CN220637909U

CN220637909U - Gantry type manipulator capable of running in stereoscopic staggered manner

Info

Publication number: CN220637909U
Application number: CN202321260566.9U
Authority: CN
Inventors: 刘海影; 吕玲
Original assignee: Dalian University of Technology
Current assignee: Dalian University of Technology
Priority date: 2023-05-23
Filing date: 2023-05-23
Publication date: 2024-03-22
Anticipated expiration: 2033-05-23

Abstract

The utility model provides a gantry manipulator running in a stereoscopic staggered way, which is characterized by comprising the following components: the gantry frame structure, the manipulator I transmission structure and the manipulator II transmission structure are arranged on the gantry frame structure; the gantry frame structure comprises upright posts and truss aluminum profile beams, wherein the upright posts are arranged on two sides of the truss aluminum profile beams; the manipulator I transmission structure and the manipulator II transmission structure are respectively arranged on two sides of the truss aluminum profile beam, and the manipulator I transmission structure and the manipulator II transmission structure mainly utilize two manipulators which are in staggered operation, so that working occasions with faster production beat requirements are achieved, the two manipulators are used for alternately grabbing workpieces, and the manipulator I transmission structure and the manipulator II transmission structure are in staggered operation when in material conveying and idle return, so that space three-dimensional cross grabbing of the workpieces is achieved, space and time are saved, and the production efficiency is improved.

Description

Gantry type manipulator capable of running in stereoscopic staggered manner

Technical Field

The utility model relates to the technical field of gantry mechanical equipment, in particular to a gantry manipulator running in a stereoscopic staggered mode.

Background

The gantry type manipulator is widely applied to an automatic production line, and can grab workpieces during working to realize station conversion. Most of the existing gantry type manipulators are two-axis or three-axis manipulators which are all independently operated by a single hand, the required production takt is not very fast, and in addition, the positions of the front working position and the rear working position of the workpiece are basically fixed, so that the manipulator is not required to change working lines in the working process.

If the production takt requirement is faster in the work station conversion process, and the previous work station is fed by manual work, a certain time is needed for manual feeding after the work of the previous work station is conveyed, and two work stations at different positions are needed for production continuity, so that the gantry manipulator carries the work piece of one previous work station immediately after the work piece of the other previous work station is carried. In this case, the existing manipulator with single hand working independently obviously cannot meet the production requirement.

Therefore, a gantry manipulator running in a stereoscopic and staggered mode needs to be designed.

Disclosure of Invention

According to the technical problem, a gantry manipulator running in a stereoscopic staggered manner is provided. The utility model mainly utilizes two manipulators which are in staggered operation, thereby playing a working occasion with faster production beat requirement, alternately grabbing workpieces by the two manipulators, and alternately operating the material conveying and the idle return time, realizing space three-dimensional staggered grabbing of the workpieces, saving space and time and improving the production efficiency. The utility model adopts the following technical means:

a gantry manipulator for stereoscopic staggered operation, comprising: the manipulator comprises a gantry frame structure, a manipulator I transmission structure and a manipulator II transmission structure, wherein the manipulator I transmission structure and the manipulator II transmission structure are arranged on the gantry frame structure; the gantry frame structure comprises upright posts and truss aluminum profile beams, wherein the upright posts are arranged on two sides of the truss aluminum profile beams; the manipulator I transmission structure and the manipulator II transmission structure are respectively arranged on two sides of the truss aluminum profile beam, the manipulator I transmission structure comprises a track I, a synchronous belt driving device I and a manipulator I, the manipulator I is arranged on the track I, and the synchronous belt driving device I is arranged between the truss aluminum profile beam and the manipulator I; the manipulator II transmission structure comprises a track II, a synchronous belt driving device II and a manipulator II, wherein the manipulator II is arranged on the track II, and the synchronous belt driving device II is arranged between the truss aluminum profile beam and the manipulator II.

Further, the manipulator I comprises a traveling device I, a linear guide rail and a lifting device I, wherein the traveling device I is connected with the synchronous belt driving device I, the linear guide rail is connected with the traveling device I through a sliding block, the lifting device I is arranged between the linear guide rail and the traveling device I, and a grabbing sucker is arranged at the lower end of the linear guide rail; the manipulator II comprises a traveling device II, a lifting rod and a lifting device II, wherein the traveling device I is connected with a synchronous belt driving device II, the lifting device II is arranged between the lifting rod and the traveling device II, and a strip-shaped grabbing sucker is arranged at the lower end of the lifting rod.

Further, the lifting device I comprises a manipulator I lifting bearing seat, a manipulator I lifting shaft, a manipulator I lifting motor and a manipulator I lifting chain wheel, wherein the manipulator I lifting motor is connected with the manipulator I lifting chain wheel through the manipulator I lifting shaft, the manipulator I lifting chain wheel is connected with the linear guide rail, and the manipulator I lifting shaft is arranged on the manipulator I lifting bearing seat; the lifting device II comprises a lifting motor torque arm, a motor torque arm fixing pin shaft and a lifting chain, wherein the lifting motor torque arm is connected with the lifting chain through the motor torque arm fixing pin shaft, and the lifting chain is connected with the lifting rod.

Further, the synchronous belt driving device I comprises a manipulator I walking driving motor, a manipulator I walking driving synchronous pulley, a manipulator I walking main shaft, a manipulator I driving synchronous belt and a manipulator I walking driving bearing seat, wherein the manipulator I walking driving bearing seat is arranged on the truss aluminum profile beam, the manipulator I walking main shaft is arranged on the manipulator I walking driving bearing seat, the manipulator I walking driving motor is connected with the manipulator I walking driving synchronous pulley through the manipulator I walking main shaft, and the manipulator I walking driving synchronous pulley is connected with the manipulator I driving synchronous belt; the synchronous belt driving device II comprises a manipulator II driving motor, a manipulator I driving synchronous belt and a motor support, wherein the manipulator II driving motor is connected with the manipulator I driving synchronous belt, and the manipulator II driving motor is arranged on the motor support.

Further, two sides of the truss aluminum profile beam are respectively provided with a manipulator I sliding block stopping device and a manipulator II sliding block stopping device.

The utility model has the following advantages:

1. according to the gantry type mechanical arm capable of achieving three-dimensional staggered operation, two mechanical arms capable of achieving staggered operation are utilized, so that working occasions with fast production beat requirements are achieved, two mechanical arms are used for alternately grabbing workpieces, and the two mechanical arms are used for achieving staggered operation when in material conveying and idle return, so that the effects of achieving three-dimensional staggered grabbing of the workpieces in space, saving space and time and improving production efficiency are achieved.

For the reasons, the utility model can be widely popularized in the fields of gantry mechanical equipment technology and the like.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present utility model, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.

Fig. 1 is a schematic structural diagram of a gantry manipulator running in a stereoscopic and staggered manner.

In the figure: 1. a column; 2. a column lifting hook; 3. a gantry beam; 4. a sliding block stopping device of the manipulator I; 5. truss aluminum profile cross beams; 6. a tensioning device I; 7. tensioning a screw rod; 8. a driven pulley device; 9. the manipulator I drives the synchronous belt; 10. a track I; 11. track II; 12. the manipulator II drives the synchronous belt; 13. a lower guide wheel; 14. a walking device I; 15. lifting the bearing support by the manipulator I; 16. lifting a bearing seat by a manipulator I; 17. lifting shaft of manipulator I; 18. lifting a motor by the manipulator I; 19. lifting a chain wheel by a manipulator I; 20. a manipulator I; 21. an upper guide wheel; 22. a manipulator II; 23. lifting a torque arm of the motor; 24. the torque arm of the motor is fixed with a pin shaft; 25. lifting the chain; 26. a walking device II; 27. a walking driving motor of the manipulator I; 28. the manipulator I walks on the initiative synchronous pulley; 29. a walking main shaft of the manipulator I; 30. the mechanical arm I walks on the initiative bearing seat; 31. the manipulator I walks the initiative bearing seat support; 32. a sliding block stopping device of the manipulator II; 33. the manipulator II drives a motor; 34. a motor support; 35. a strip-shaped sucker; 36. a lifting chain bar support; 37. and a lifting rod.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

As shown in fig. 1, the gantry manipulator for stereoscopic staggered operation provided by the utility model comprises: the manipulator comprises a gantry frame structure, a manipulator I transmission structure and a manipulator II transmission structure, wherein the manipulator I transmission structure and the manipulator II transmission structure are arranged on the gantry frame structure; the gantry frame structure comprises an upright post 1 and a truss aluminum profile beam 5, wherein the upright post 1 is arranged on two sides of the truss aluminum profile beam 5; the manipulator I transmission structure and the manipulator II transmission structure are respectively arranged on two sides of the truss aluminum profile beam 5, the manipulator I transmission structure comprises a track I10, a synchronous belt driving device I and a manipulator I, the manipulator I is arranged on the track I10, and the synchronous belt driving device I is arranged between the truss aluminum profile beam 5 and the manipulator I; the manipulator II transmission structure comprises a track II 11, a synchronous belt driving device II and a manipulator II, wherein the manipulator II is arranged on the track II 11, and the synchronous belt driving device II is arranged between the truss aluminum profile beam 5 and the manipulator II; the manipulator I comprises a traveling device I14, a linear guide rail and a lifting device I, wherein the traveling device I14 is connected with the synchronous belt driving device I, the linear guide rail is connected with the traveling device I14 through a sliding block, the lifting device I is arranged between the linear guide rail and the traveling device I14, and a grabbing sucker is arranged at the lower end of the linear guide rail; the manipulator II comprises a traveling device II 26, a lifting rod 37 and a lifting device II, wherein the traveling device I14 is connected with the synchronous belt driving device II, the lifting device II is arranged between the lifting rod 37 and the traveling device II 26, and a strip-shaped grabbing sucker is arranged at the lower end of the lifting rod 37; the lifting device I comprises a manipulator I lifting shaft 17 bearing seat 16, a manipulator I lifting shaft 17, a manipulator I lifting motor 18 and a manipulator I lifting chain wheel 19, wherein the manipulator I lifting motor 18 is connected with the manipulator I lifting chain wheel 19 through the manipulator I lifting shaft 17, the manipulator I lifting chain wheel 19 is connected with the linear guide rail, and the manipulator I lifting shaft 17 is arranged on the manipulator I lifting shaft 17 bearing seat 16; the lifting device II comprises a lifting motor torque arm 23, a motor torque arm fixing pin 24 and a lifting chain 25, wherein the lifting motor torque arm 23 is connected with the lifting chain 25 through the motor torque arm fixing pin 24, and the lifting chain 25 is connected with the lifting rod 37; the synchronous belt driving device I comprises a manipulator I walking driving motor 27, a manipulator I walking driving synchronous pulley 28, a manipulator I walking main shaft 29, a manipulator I driving synchronous belt 9 and a manipulator I walking driving bearing seat 30, wherein the manipulator I walking driving bearing seat 30 is arranged on the truss aluminum profile beam 5, the manipulator I walking main shaft 29 is arranged on the manipulator I walking driving bearing seat 30, the manipulator I walking driving motor 27 is connected with the manipulator I walking driving synchronous pulley 28 through the manipulator I walking main shaft 29, and the manipulator I walking driving synchronous pulley 28 is connected with the manipulator I driving synchronous belt 9; the synchronous belt driving device II comprises a manipulator II driving motor 33, a manipulator II driving synchronous belt 12 and a motor support 34, wherein the manipulator II driving motor 33 is connected with the manipulator II driving synchronous belt 12, and the manipulator II driving motor 33 is arranged on the motor support 34; and a manipulator I sliding block stop device 4 and a manipulator II sliding block stop device 32 are respectively arranged on two sides of the truss aluminum profile beam 5.

Example 1

As shown in figure 1, the lower end of a column 1 of the gantry manipulator is fixed on a foundation through a footing bolt, the upper end of the column is connected with the lower side of a gantry beam 3 through a bolt, a lifting hook 2 is connected with the left side of the column 1 through threads, a manipulator I stop device 4 is fixed in front of a truss aluminum profile beam 5 through a bolt, the truss aluminum profile beam 5 is fixed on the gantry beam 3 through a bolt connection, a tensioning device I6 is fixed on the truss aluminum profile beam 5 through a bolt connection, a driven pulley device 8 is fixed on the truss aluminum profile beam 5 through a bolt connection at a distance of 80mm on the right side of a tensioning support, a tensioning screw rod 7 is fixed on the tensioning support through a pressing block and can rotate, and the tensioning screw rod 7 is connected with the driven pulley device 8 through threads; the manipulator I driving synchronous belt 9 is a driving belt of the manipulator I20, which is horizontally walked and is wound on the driven belt pulley device 8 and the manipulator I walking driving synchronous belt pulley 28, and repeatedly runs between the two; the rail I10 is six-edge steel, is fixed at the middle position in front of the truss aluminum profile beam 5 through a cylindrical head screw, the rail II 11 is also six-edge steel, is fixed on the lowest groove in back of the truss aluminum profile beam 5 through a cylindrical head screw, the manipulator II drives the synchronous belt 12 to be a horizontal walking driving belt of the manipulator II 22, is wound on a slave belt pulley 8 arranged below the truss aluminum profile beam 5 and a synchronous belt pulley arranged on the shaft of the driving motor 29, and repeatedly runs between the slave belt pulley 8 and the synchronous belt pulley; the lower guide wheel 13 and the upper guide wheel 21 are internally provided with bearings, the bearings are arranged on the inner side of a vertical plate of the walking device I14 through threaded connection, V-shaped grooves are formed in the guide wheels, angles of two sides are 60 degrees, the guide wheels ride on two sides of six-edge steel, the manipulator I20 is provided with a linear guide rail, a sliding block is arranged on the outer side of the vertical plate of the walking device I14, and the linear guide rail freely slides on the sliding block; the manipulator lifting bearing support 15 is fixed on the transverse plate of the travelling device I14 through bolt connection, the manipulator lifting bearing support 16 is fixed on the manipulator lifting bearing support 15 through bolt connection, the manipulator I lifting shaft 17 penetrates through the centers of the two manipulator lifting bearing supports 16, the manipulator lifting chain wheels 19 are installed at two ends through expansion sleeves, the manipulator lifting motor 18 is fixed in the middle of the manipulator I lifting shaft 17 through key connection, and the two lifting motors are respectively fixed on the two travelling devices through torque arms 23 and pin shafts 24. The manipulator II 2 is provided with a linear guide rail, a sliding block is arranged in front of a rear vertical plate of the travelling device 27, and the manipulator II 2 moves up and down relative to the travelling device under the drive of a lifting device II (consisting of a lifting motor, a shaft, a bearing seat support and a lifting chain wheel) through the guide rail and the sliding block. The manipulator I walking driving motor 28 is installed on the manipulator I walking main shaft 29 through a key connection, the manipulator I walking driving synchronous pulley 28 is installed at two ends of the manipulator I walking main shaft 29 through an expansion sleeve, the manipulator I walking driving bearing seat support 31 is installed at the rightmost end on the truss aluminum profile beam 5 through a bolt, the manipulator I walking driving bearing seat 30 is installed on the driving bearing seat support 31 through a bolt, and the manipulator I walking main shaft 29 penetrates through the two bearing seats to be the center. The manipulator II slide block stop 32 is mounted below the right-most end of the rear of the truss aluminum profile beam 5. The driving motor 33 of the manipulator II is arranged on the motor support 34 through bolts, and the motor support 34 is fixedly connected on the manipulator I20 and the manipulator II 22 through bolts to fix the end face 2.0+ below the right end of the truss aluminum profile beam 5, so that the function of grabbing workpieces is realized. The lifting chain bar support 36 is fixed at the lower end of the mechanical arm vertical beam through bolts, the lifting rod 37 penetrates through a round hole in the lifting chain bar support 36, two sets of nuts are arranged on two sides of the lifting chain bar support, one end of the lifting chain bar 26 is fixed on a lifting chain wheel, and the other end is fixed on lifting.

The gantry manipulator consists of two manipulators, and is driven by two travelling devices respectively to realize horizontal travelling and vertical lifting. The walking device I is of a portal frame structure, the walking device II is arranged on the inner side of the truss aluminum profile cross beams 5 and on the outer sides of the two truss aluminum profile cross beams 5 through the vertical plates, and the manipulator II can freely pass through the portal frame structure. Two suckers of the manipulator II are of an integral structure, and the strip-shaped suckers are transversely arranged; the manipulator I consists of two manipulators with independent suckers, the strip-shaped suckers are longitudinally arranged, the distance between the two suckers is larger than the width of the vertical beam of the manipulator, and the manipulator II can freely pass through the vertical beam; two suckers of manipulator I walk and vertical lift simultaneously. When the manipulator gripping the material works, the manipulator gripping the material always runs at a low position, the empty manipulator runs at a high position, and the two manipulators realize staggered running without interference. In the working occasion with faster production beat requirement, two manipulators are used for alternately grabbing workpieces, and the material conveying and idle-returning are performed in a staggered mode, so that the workpieces are grabbed in a space three-dimensional and crossed mode, the space and time are saved, and the production efficiency is improved.

The two truss aluminum profile beams are arranged on the two portal frames, the travelling device 1 is of a portal frame structure, the common guide rail arranged on the outer sides of the two truss aluminum profile beams is arranged on the middle sliding groove, the travelling device 2 is arranged on the inner side of the truss aluminum profile beam 5, and the guide rail of the travelling device is arranged on the lowest sliding groove; two suckers of the manipulator II are of an integral structure, and the strip-shaped suckers are longitudinally arranged; the manipulator I consists of two manipulators with independent suckers, the strip-shaped suckers are transversely arranged, the distance between the two suckers is larger than the width of the vertical beam of the manipulator, and the manipulator II can freely pass through the vertical beam; two suckers of the manipulator I realize horizontal walking and vertical lifting at the same time; when the manipulator gripping the material works, the manipulator gripping the material always runs at a low position, the empty manipulator runs at a high position, and the two manipulators realize staggered running without interference.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.

Claims

1. A gantry manipulator for stereoscopic staggered operation, comprising: the manipulator comprises a gantry frame structure, a manipulator I transmission structure and a manipulator II transmission structure, wherein the manipulator I transmission structure and the manipulator II transmission structure are arranged on the gantry frame structure; the gantry frame structure comprises upright posts and truss aluminum profile beams, wherein the upright posts are arranged on two sides of the truss aluminum profile beams; the manipulator I transmission structure and the manipulator II transmission structure are respectively arranged on two sides of the truss aluminum profile beam, the manipulator I transmission structure comprises a track I, a synchronous belt driving device I and a manipulator I, the manipulator I is arranged on the track I, and the synchronous belt driving device I is arranged between the truss aluminum profile beam and the manipulator I; the manipulator II transmission structure comprises a track II, a synchronous belt driving device II and a manipulator II, wherein the manipulator II is arranged on the track II, and the synchronous belt driving device II is arranged between the truss aluminum profile beam and the manipulator II.

2. The gantry type manipulator for stereoscopic staggered operation according to claim 1, wherein the manipulator I comprises a traveling device I, a linear guide rail and a lifting device I, the traveling device I is connected with the synchronous belt driving device I, the linear guide rail is connected with the traveling device I through a sliding block, the lifting device I is arranged between the linear guide rail and the traveling device I, and a grabbing sucker is arranged at the lower end of the linear guide rail; the manipulator II comprises a traveling device II, a lifting rod and a lifting device II, wherein the traveling device I is connected with a synchronous belt driving device II, the lifting device II is arranged between the lifting rod and the traveling device II, and a strip-shaped grabbing sucker is arranged at the lower end of the lifting rod.

3. The gantry type manipulator for stereoscopic staggered operation according to claim 2, wherein the lifting device I comprises a manipulator I lifting bearing seat, a manipulator I lifting shaft, a manipulator I lifting motor and a manipulator I lifting chain wheel, the manipulator I lifting motor is connected with the manipulator I lifting chain wheel through the manipulator I lifting shaft, the manipulator I lifting chain wheel is connected with the linear guide rail, and the manipulator I lifting shaft is arranged on the manipulator I lifting bearing seat; the lifting device II comprises a lifting motor torque arm, a motor torque arm fixing pin shaft and a lifting chain, wherein the lifting motor torque arm is connected with the lifting chain through the motor torque arm fixing pin shaft, and the lifting chain is connected with the lifting rod.

4. The gantry type manipulator with the stereoscopic staggered operation according to claim 3, wherein the synchronous belt driving device I comprises a manipulator I walking driving motor, a manipulator I walking driving synchronous pulley, a manipulator I walking main shaft, a manipulator I driving synchronous belt and a manipulator I walking driving bearing seat, the manipulator I walking driving bearing seat is arranged on the truss aluminum profile beam, the manipulator I walking main shaft is arranged on the manipulator I walking driving bearing seat, the manipulator I walking driving motor is connected with the manipulator I walking driving synchronous pulley through the manipulator I walking main shaft, and the manipulator I walking driving synchronous pulley is connected with the manipulator I driving synchronous belt; the synchronous belt driving device II comprises a manipulator II driving motor, a manipulator I driving synchronous belt and a motor support, wherein the manipulator II driving motor is connected with the manipulator I driving synchronous belt, and the manipulator II driving motor is arranged on the motor support.

5. The gantry manipulator for stereoscopic staggered operation according to claim 4, wherein the manipulator I sliding block stopping device and the manipulator II sliding block stopping device are respectively arranged on two sides of the truss aluminum profile beam.